Upload policy weights, train config and readme

README.md

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+---
+datasets: cagedBirdy/peg_01_12_left_12_abs
+library_name: lerobot
+license: apache-2.0
+model_name: dit_flow
+pipeline_tag: robotics
+tags:
+- lerobot
+- dit_flow
+- robotics
+---
+
+# Model Card for dit_flow
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+_Model type not recognized — please update this template._
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "dit_flow",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.image.cam0": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                240,
+                320
+            ]
+        },
+        "observation.image.cam1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                240,
+                320
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                4
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                10
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "cagedBirdy/DiT_12_peg_left_abs",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "horizon": 16,
+    "n_action_steps": 8,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 7,
+    "vision_backbone": "resnet18",
+    "crop_shape": [
+        216,
+        288
+    ],
+    "crop_is_random": true,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "use_vit_encoder": false,
+    "use_correct_vit_encoder": true,
+    "vit_embed_dim": 512,
+    "vit_depth": 6,
+    "vit_num_heads": 8,
+    "vit_dropout": 0.1,
+    "frequency_embedding_dim": 256,
+    "hidden_dim": 512,
+    "num_blocks": 6,
+    "num_heads": 16,
+    "dropout": 0.1,
+    "dim_feedforward": 4096,
+    "activation": "gelu",
+    "training_noise_sampling": "uniform",
+    "clip_sample": true,
+    "clip_sample_range": 1.0,
+    "num_inference_steps": 8,
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

model.safetensors

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+oid sha256:76d4fc5c7828bec8676d07a934631c74646a42a29f429261853efdbce61590fb
+size 345095256

train_config.json

@@ -0,0 +1,223 @@
+{
+    "dataset": {
+        "repo_id": "cagedBirdy/peg_01_12_left_12_abs",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "dit_flow",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.image.cam0": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    240,
+                    320
+                ]
+            },
+            "observation.image.cam1": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    240,
+                    320
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    4
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    10
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "push_to_hub": true,
+        "repo_id": "cagedBirdy/DiT_12_peg_left_abs",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "horizon": 16,
+        "n_action_steps": 8,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 7,
+        "vision_backbone": "resnet18",
+        "crop_shape": [
+            216,
+            288
+        ],
+        "crop_is_random": true,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "use_vit_encoder": false,
+        "use_correct_vit_encoder": true,
+        "vit_embed_dim": 512,
+        "vit_depth": 6,
+        "vit_num_heads": 8,
+        "vit_dropout": 0.1,
+        "frequency_embedding_dim": 256,
+        "hidden_dim": 512,
+        "num_blocks": 6,
+        "num_heads": 16,
+        "dropout": 0.1,
+        "dim_feedforward": 4096,
+        "activation": "gelu",
+        "training_noise_sampling": "uniform",
+        "clip_sample": true,
+        "clip_sample_range": 1.0,
+        "num_inference_steps": 8,
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500
+    },
+    "output_dir": "/scratch/polnirma/runs/lerobot/1557/checkpoints",
+    "job_name": "dit_12_OG_mod_resnet18_abs",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 8,
+    "batch_size": 32,
+    "steps": 200000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "DIT_OG_mod_peg_01_12_left",
+        "entity": "nirmalpol2012-university-of-toronto",
+        "notes": null,
+        "run_id": "9zai5hn5",
+        "mode": null
+    },
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "use_umi_relative_actions": true,
+    "rename_map": {},
+    "checkpoint_path": null
+}